| Document Date: 2012-03-26 23:44:02
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City Shanghai / Robotics / / Company Artificial Intelligence Laboratory / / Country China / Singapore / / / Facility Georgia Institute of Technology / Massachusetts Institute of Technology / / IndustryTerm intended online nature / batch solution / equivalent product / robotic applications / incremental online algorithms / online smoothing / graphical model inference algorithms / actual solution / maximum cardinality search algorithm / real applications / inference algorithms / recent mapping algorithms / probabilistic inference algorithms / online mapping / elimination algorithm / sparse matrix solution / fluid relinearization algorithm / incremental nonlinear least-squares estimation algorithm / update algorithm / Online operation / able new algorithms / tree-based algorithm / incremental solution / iSAM algorithm / / Movie Manhattan / / Organization School of Interactive Computing / Massachusetts Institute of Technology / Georgia Institute of Technology / Atlanta / / Person R. Roberts / V / Blair / Richard Roberts / John Leonard / Peyton / / Position RT / General / / Product Bayes tree / / ProgrammingLanguage R / / ProvinceOrState Massachusetts / / Technology 4 The iSAM2 Algorithm Our fluid relinearization algorithm / incremental online algorithms / 1 Introduction Probabilistic inference algorithms / graphical model inference algorithms / recent mapping algorithms / update algorithm / artificial intelligence / SLAM algorithms / iSAM algorithm / maximum cardinality search algorithm / elimination algorithm / tree-based algorithm / Levenberg-Marquardt algorithm / Caching / animation / probabilistic inference algorithms / incremental nonlinear least-squares estimation algorithm / done using the maximum cardinality search algorithm / /
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iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard, and Frank Dellaert Abstract We present a novel data structure, the Bayes tree, t